Autonomous Undersea Vehicle Cooperative Control: Current Research Status and Development Trends

Abstract

In recent decades, as a cross-research field of ocean exploitation and multi-robotic system, the cooperative control of autonomous undersea vehicles(AUVs) has received increasing attention from researchers and engineers. A theoretical framework for cooperative control of AUVs is under development, and relevant research is facing many problems that must be solved urgently. This paper presents a comprehensive survey of formation control, cooperative navigation and localization, cooperative path planning, task assignment, and target capture for multi-AUV cooperative control problems. We also analyzed the network architecture and cooperative strategy for formation control, as well as the constraints they face. Finally, relevant directions for future research are discussed to provide valuable insights into the rational use of AUVs for various underwater tasks in complex marine application scenarios.

Keywords

• autonomous undersea vehicle
• cooperative control
• formation control
• cooperative navigation and localization
• coordinated path planning
• task assignment